#include "vehicle_lmpc_factory.hpp"
#include "test_vehicle_dyn_path.h"
using namespace auto_ros::control;
int main()
{
	std::string dyn_yaml_path_name = test_vehicle_dyn_path;
	std::string vehicle_lmpc_yaml_file = "vehicle_lmpc.yaml";
	VehicleLMpcFactory test_lmpc_factory;
	std::shared_ptr<VehicleLMpcBase> test_mpc =
		test_lmpc_factory.CreateSharedObject("VehicleLateralSpeed3disMpc",
											 dyn_yaml_path_name, vehicle_lmpc_yaml_file, 50);
	std::cout << test_mpc->vehicle_dyn_ptr_->dyn_yaml_ << std::endl;

	//std::cout << test_kf->state_esti() << std::endl;
}